fix(common_sensor_launch): reinstate velodyne monitor

Signed-off-by: David Wong <[email protected]>
tier4 · Aug 1, 2023 · 1d64a07 · 1d64a07
1 parent 5eb758d
commit 1d64a07
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Showing 4 changed files with 19 additions and 0 deletions.
diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLP32C.launch.xml b/common_sensor_launch/launch/velodyne_VLP32C.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/launch/velodyne_VLS128.launch.xml b/common_sensor_launch/launch/velodyne_VLS128.launch.xml
@@ -37,4 +37,10 @@
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="container_name" value="$(var container_name)"/>
   </include>
+
+  <!-- Velodyne Monitor -->
+  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
+    <arg name="ip_address" value="$(var device_ip)" />
+  </include>
+
 </launch>
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
@@ -12,6 +12,7 @@
 
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
+  <exec_depend>velodyne_monitor</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>